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Chen Feng

Publications and source records attributed to Chen Feng.

At least 19 recordsLinked to original sources
arXiv2026

EgoPush: Egocentric Multi-Object Rearrangement for Mobile Robots via Constrained Teacher Observability

Humans rearrange objects in cluttered environments using egocentric perception, actively moving to keep task-relevant spatial cues in view. Mobile robots have not matched this: rearrangement is usually built on a global pose estimate or a map, which is exactly what a robot carrying one camera lacks, while pushing keeps changing the scene it would have to be built from. We present EgoPush, which pushes objects into anchor-relative formations from onboard RGB-D alone, with no global localization, external tracking, or map at deployment, and transfers zero-shot to a TurtleBot in controlled and visually cluttered scenes. What makes this learnable turns out to be a property of the teacher rather than of the student: three privileged teachers trained with identical rewards, architecture, and hyperparameters all exceed $98\%$ success, yet their distilled egocentric students reach $0\%$, $54.8\%$, and $87.3\%$, the only variable being the teacher's observation function. EgoPush therefore trains the teacher under egocentric observability constraints, restricting it to visibility-limited cues and revealing target references only when the anchor is centrally visible, so that its supervision is recoverable by a depth-based student distilled online. Making the teacher trainable in the first place needs two further pieces: a role-grouped object-centric interface shared by teacher and student, and stage-wise temporally decayed rewards for long-horizon credit assignment. Videos, the playable task, and code are available at https://ai4ce.github.io/EgoPush/.

cs.RO↗
arXiv2026

Vision-Force Admittance Learning for Peg Insertion into a Movable Hole

Precise manipulation in dynamic environments, whether induced by a mobile robot base or a target with unknown motion, remains a major challenge in robotics. Manipulation in dynamic environments introduces substantial uncertainty, which fundamentally conflicts with the tight precision requirement of precise tasks such as peg-in-the-hole. We propose a Vision-Force Admittance Learning (VFAL) framework that fuses asynchronous visual feedback with a high-frequency force-based model, using visual pose estimations as a regularization term. VFAL adapts insertion strategies online to dynamic motion while maintaining millimeter-level precision. To obtain robust, low-frequency pose information, we employ state-of-the-art vision foundation models for visual pose estimation. Additionally, we incorporate failure recovery mechanisms to enhance overall robustness. We validate our approach in real-world experiments, demonstrating high success rates and strong adaptability to various pegs and dynamic environments.

cs.RO↗
arXiv2026

SenseNova-U1.5: Towards Native Unified Visual Intelligence

We launch SenseNova-U1.5, an 8B-MoT native unified multimodal model that understands, reasons about, and generates visual content within an encoder-free and VAE-free architecture. We strengthen its visual interface through spatially coherent patch reconstruction and scale its training with carefully curated generation and editing data, improved task formulation, structural prompt enhancement, and native resolutions of up to 4K. For post-training, we optimize specialized experts for visual aesthetics, bilingual text rendering, infographic generation, and image editing, and consolidate their capabilities through multi-expert on-policy distillation. Across extensive evaluations, SenseNova-U1.5 largely advances image fidelity, text rendering, complex composition, multi-reference editing, and interleaved generation, while improving instruction following and preserving subject identity, geometry, and unmodified regions. Despite limited exposure to structured formats in its generation data, SenseNova-U1.5 generalizes effectively to long, complex, and structured visual instructions, further proving that multimodal understanding can transfer to visual planning and creation. Together, these findings position native unified modelling as a promising path towards systems that perceive, reason and create within a fully end-to-end framework. We will open-source training code, including supervised fine-tuning, reinforcement learning, and on-policy distillation.

cs.CV↗
arXiv2026

Chain-SLAM: Globally Consistent Backend for Multi-Session LiDAR SLAM via Chained Loop Closure

Maintaining consistency over long spatial and temporal horizons remains a fundamental challenge in large-scale LiDAR SLAM, particularly when integrating maps collected across multiple sessions. We present Chain-SLAM, a LiDAR SLAM backend enabling online multi-session map alignment and reuse with global consistency at large scale. We implement a chained loop closure mechanism that efficiently propagates geometric constraints across inter-session keyframes through an adjacency graph, enabling robust long-horizon consistency triggered by reliable short-horizon loop closures. The system initializes inter-session alignment with GNSS-proximity place recognition, then performs on-the-fly loop closure detections and joint optimization of loaded maps and newly acquired trajectories within a unified factor graph, maintaining both inter- and intra-session geometric consistency without dynamic object removal, and cross-platform robustness with minimal hyperparameter tuning. Experimental results show improved trajectory accuracy and robust multi-session integration on large-scale datasets. We release our source code to support reproducible research in large-scale multi-session LiDAR SLAM. Project site: https://ai4ce.github.io/Chain-SLAM/

cs.RO↗
arXiv2026

Breaking Fault Lines: Unifying TEE-Assisted BFT Consensus in Partially Trusted Worlds

This paper revisits TEE-assisted BFT under a universal partial-TEE model, where an arbitrary subset of replicas execute inside TEEs while the remaining replicas operate without hardware trust guarantees. We show that heterogeneous trust changes the structure of quorum formation and fault tolerance. In particular, we derive a tight resilience bound f < max {n/3, m/2}, where n is the total number of replicas and m is the number of TEE-enabled replicas. The result reveals a sharp threshold phenomenon: TEEs improve fault tolerance only once they exceed two-thirds of the deployment. Guided by this characterization, we introduce two protocol principles: (1) a dual-quorum construction that safely combines TEE-only and mixed quorums, and (2) a TEE-leader fast path that leverages hardware-enforced non-equivocation to reduce both consensus and view-change latency. We realize these ideas in Raftel, which is, to our knowledge, the first HotStuff-style BFT protocol designed explicitly for arbitrary partial-TEE deployments, and in chained-Raftel, a pipelined variant that further accelerates mixed-trust execution. We implement both protocols atop Intel SGX and evaluate them in LAN and WAN environments. Our results show that Raftel achieves up to 625 TPS with sub-670 ms latency in WAN settings, outperforming HotStuff by up to 308 TPS in throughput while approaching the performance of fully TEE-assisted protocols.

cs.DC↗
arXiv2026

Accuracy and Order Sensitivity Diverge Under Label-Free Strategies

Multiple-choice benchmarks are widely used to evaluate large language models, but MCQ scores conflate knowledge with sensitivity to option order, which makes them unreliable measures of model knowledge. In this paper, we test whether preventing a model from seeing option labels while committing to an answer removes positional influence and, in turn, improves performance. We evaluate two different strategies for mitigating bias. The first uses a generation-then-matching approach, and the second scores options in isolation, which is positionally unbiased by construction. Neither reliably improves accuracy. A complete decomposition shows that the bottleneck is withholding options, not the matching step. The only configuration that consistently matches the baseline is the one that shows the model all options paired with an LLM matcher. However, eliminating positional influence entirely still does not reliably yield accuracy gains, while cyclic permutation often improves them. For two-stage prompting, an aggregate measure of recall imbalance and a direct per-question measure of order sensitivity both fail to show reliable debiasing.

cs.CL↗
arXiv2026

SCD4VPR: Multi-modal Scene Change Detection for Long-term Visual Place Recognition Database Update

Long-term autonomy in mobile robotics requires maps that remain accurate as environments change over time. Visual Place Recognition (VPR), a core localization capability, degrades sharply as the temporal gap between query and database images grows, particularly across seasonal transitions. Scene Change Detection (SCD) offers a principled mechanism for database maintenance, but existing methods rely on binary, uni-modal visual features that cannot distinguish structural changes from viewpoint-induced differences - a distinction essential for correct update decisions. We propose SCD4VPR, a scene change detection that jointly reasons about what has changed and distinguishes genuine change from viewpoint-induced difference in a unified vision-language framework. SCD4VPR fuses VLM-generated semantic descriptions with visual features via cross-modal attention and refines predictions with geometric-semantic matching, producing multi-class change masks that separately identify object changes, appearance changes, and viewpoint-induced changes. We introduce NYC-CD, the first real-world street-view SCD benchmark with pixel-level multi-class annotations across 8,122 image pairs. Experiments across four SCD benchmarks show that SCD4VPR consistently improves three architecturally distinct backbones. In a controlled VPR database maintenance experiment on NYU-VPR spanning summer through late winter, we confirm that retrieval performance deteriorates substantially when the database is left unchanged, and show that SCD4VPR-guided updates recover most of this loss (+30.1 R@1 at the largest time gap) while keeping the database far more compact than naive append.

cs.CV↗
arXiv2026

Observation Quality Matters: Robust Multi-Fisheye Calibration via Failure-Oriented Analysis

Reliable calibration of multi-fisheye camera systems remains challenging as rig size, camera arrangement diversity, and field of view increase. Existing pipelines can jointly optimize intrinsics, extrinsics, and target poses, but their success still depends heavily on empirical capture rules and the quality of the observations supplied to the solver. This paper studies this dependency through a failure-oriented analysis. We reveal that calibration failures are not sufficiently explained by detector recall loss or global image-plane distribution imbalance. Instead, the dominant failure factor lies in intrinsic initialization: observations with limited radial span couple focal scale with fisheye projection-shape parameters, producing ill-conditioned updates. Guided by this insight, we propose CO-Calib, a plug-in calibration-data construction framework that combines a robust learning-based target detector with an error-analysis-guided frame selector. CO-Calib constructs initialization-friendly anchors, co-visible multi-camera constraints, and coverage-completion frames without changing the existing calibration workflow or optimization backend. Extensive experiments on synthetic and real multi-fisheye systems demonstrate that CO-Calib improves the overall success rate from 68.1% to 99.3%, increases extrinsic accuracy, and augments real-world calibration stability. The source code will be made publicly available at https://github.com/HKUST-Aerial-Robotics/CO-Calib.

cs.RO↗
arXiv2026

WildCity: A Real-World City-Scale Testbed for Rendering, Simulation, and Spatial Intelligence

Humans can navigate an unfamiliar city and gradually form a coherent spatial mental map spanning tens of square kilometers. Can AI build spatial representations at a comparable scale? Although recent foundation models have advanced scene reconstruction and embodied intelligence, scaling to entire cities remains an open challenge, primarily due to the lack of city-scale data. To bridge the gap, we introduce WildCity, a real-world multimodal dataset collected by autonomous fleets traversing complex urban environments. Our dataset includes 18 trajectories, each averaging 83.7 kilometers in length, and preserves the core challenges of in-the-wild perception, e.g., dynamic objects, lighting variations, and imperfect camera poses. We further establish an urban-tailored reconstruction baseline and convert the reconstructed environments into a closed-loop simulator. Beyond the dataset and baseline, we systematically analyze the key challenges on the path to simulation-ready urban digital twins: scalability, extrapolation, and uncertainty. Ultimately, WildCity aims to catalyze progress not only in city-scale rendering, but more broadly in the pursuit of AI that can perceive, remember, and reason across space at a scale comparable to human cognition. Project page: https://han-xiangyu.github.io/Wild-City/

cs.CV↗
arXiv2026

FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments

Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook occlusion-induced visibility degradation, severely compromising scanning quality. This study proposes FC-Vision, an on-the-fly visibility-aware replanning framework that proactively and safely prevents target occlusions while preserving full target coverage and efficiency of the original plan. Our approach explicitly enforces dense surface-visibility constraints to regularize replanning behavior in real-time via an efficient two-level decomposition: occlusion-free viewpoint repair that maintains coverage with minimal deviation from the nominal scan, followed by segment-wise clean-sensing connection in 5-DoF space. A plug-in integration strategy is also presented to seamlessly interface \textbf{FC-Vision} with existing UAV scanning systems without architectural changes. Comprehensive simulation and real-world evaluations show that \textbf{FC-Vision} consistently improves scanning quality under unexpected occluders, delivering a maximum coverage gain of 55.32% and a 73.17% reduction in the occlusion ratio, while achieving real-time performance with a moderate increase in flight time. The code has been released at https://github.com/FC-Family/FC-Vision.

cs.RO↗
arXiv2026

Leader Rotation Is Not Enough: Scrutinizing Leadership Democracy of Chained BFT Consensus

With the growing popularity of blockchains, modern chained BFT protocols combining chaining and leader rotation to obtain better efficiency and leadership democracy have received increasing interest. Although the efficiency provisions of chained BFT protocols have been thoroughly analyzed, the leadership democracy has received little attention in prior work. In this paper, we scrutinize the leadership democracy of four representative chained BFT protocols, especially under attack. To this end, we propose a unified framework with two evaluation metrics, i.e., chain quality and censorship resilience, and quantitatively analyze chosen protocols through the Markov Decision Process (MDP). With this framework, we further examine the impact of two key components, i.e., voting pattern and leader rotation on leadership democracy. Our results indicate that leader rotation is not enough to provide the leadership democracy guarantee; an adversary could utilize the design, e.g., voting pattern, to deteriorate the leadership democracy significantly. Based on the analysis results, we propose customized countermeasures for three evaluated protocols to improve their leadership democracy with only slight protocol overhead and no change of consensus rules. We also discuss future directions toward building more democratic chained BFT protocols.

cs.CR↗
arXiv2026

Unraveling Responsiveness of Chained BFT Consensus with Network Delay

With the advancement of blockchain technology, chained Byzantine Fault Tolerant (BFT) protocols have been increasingly adopted in practical systems, making their performance a crucial aspect of the study. In this paper, we introduce a unified framework utilizing Markov Decision Processes (MDP) to model and assess the performance of three prominent chained BFT protocols. Our framework effectively captures complex adversarial behaviors, focusing on two key performance metrics: chain growth and commitment rate. We implement the optimal attack strategies obtained from MDP analysis on an existing evaluation platform for chained BFT protocols and conduct extensive experiments under various settings to validate our theoretical results. Through rigorous theoretical analysis and thorough practical experiments, we provide an in-depth evaluation of chained BFT protocols under diverse attack scenarios, uncovering optimal attack strategies. Contrary to conventional belief, our findings reveal that while responsiveness can enhance performance, it is not universally beneficial across all scenarios. This work not only deepens our understanding of chained BFT protocols, but also offers valuable insights and analytical tools that can inform the design of more robust and efficient protocols.

cs.DC↗
arXiv2026

CRAG: Can 3D Generative Models Help 3D Assembly?

Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by this intuition, we reformulate 3D assembly as a joint problem of assembly and generation. We show that these two processes are mutually reinforcing: assembly provides part-level structural priors for generation, while generation injects holistic shape context that resolves ambiguities in assembly. Unlike prior methods that cannot synthesize missing geometry, we propose CRAG, which simultaneously generates plausible complete shapes and predicts poses for input parts. Extensive experiments demonstrate state-of-the-art performance across in-the-wild objects with diverse geometries, varying part counts, and missing pieces. Project Page: https://ai4ce.github.io/CRAG/

cs.CV↗
arXiv2026

SAVMap: Structure-Aided Visual Mapping of Large-Scale 2.5D Manhattan Wireframes from Panoramic Video

Precise 3D representations of industrial environments enable tasks such as robot localization and digital twin generation. We propose SAVMap, a method for generating a semantic wireframe map of warehouse shelf and light structures using only a panoramic video camera as the sensor input. Sequences of rectified images with shelf and ceiling-facing views are extracted from a panoramic video captured along the warehouse aisles. Using a semantic segmentation network front end, a set of sparse, semantic structure feature points (e.g., corners of shelf structures, centers of lights) are extracted from each image and tracked across the sequences. By accounting for real-world geometric relationships among the points such as Manhattan grids, a constrained structure-from-motion algorithm yields the 3D points that form a wireframe map. We demonstrate the scalability and accuracy of our proposal in a warehouse with 46 shelving rows, each with faces spanning 55\,m by 7\,m. From an hour of panoramic video content, we create wireframe maps for over 5000 shelf elements across the rows, achieving an aggregate mean absolute error of 4.8\,cm with respect to ground-truth.

cs.CV↗
arXiv2026

SILMARILS: Information-Theoretic and Quantum-Secure Designated-Verifier Signatures

SILMARILS is built from a minimal algebraic core over $\mathbb{F}_p$ using true randomness and perfect $2$-out-of-$2$ Shamir secret sharing. The framework supports both two-party and three-party modes. In the two-party setting, SILMARILS realizes a transferable designated-verifier (TDV) signature scheme. The designated verifier can simulate accepting transcripts indistinguishable from real ones, achieving Jakobsson-Sako-Impagliazzo DV security. The verifier may publish a receipt $r$ enabling public verification, yet even with $r$, no external party can tell whether a transcript was signed or simulated. As DV signatures permit simulation, standard EUF-CMA cannot hold for the designated verifier; instead, we prove $\mathsf{EUF\text{-}CMA}^{\neg\mathsf{DV}}$ security for all non-designated verifiers in both the random oracle model (ROM) and quantum random oracle model (QROM). In the three-party mode, adopting the broadcast model of Fitzi et al., we obtain a statistically secure signature protocol with simulation-based security and error $1/p$. We analyze security in the Pure IT model, the IT+ROM, and the QROM, extending the Fitzi et al. framework to quantum adversaries with classical I/O. Correctness, secrecy, transferability, and unforgeability for non-designated parties remain equivalent to simulation-based security. Thanks to its simple algebraic structure, SILMARILS offers very compact keys and signatures for the blockchain settings we target, where standardized PQC schemes are already more than sufficient. Our goal is not to compare SILMARILS with PQC, but to highlight its suitability for lightweight TDV authentication. A fair comparison with other DV schemes is omitted due to space and the complexity of aligning models.

cs.CR↗
arXiv2026

ViewSAM: Learning View-aware Cross-modal Semantics for Weakly Supervised Cross-view Referring Multi-Object Tracking

Cross-view Referring Multi-Object Tracking (CRMOT) aims to track multiple objects specified by natural language across multiple camera views, with globally consistent identities. Despite recent progress, existing methods rely heavily on costly frame-level spatial annotations and cross-view identity supervision. To reduce such reliance, we explore CRMOT under weak supervision by leveraging the capabilities of foundation models. However, our empirical study shows that directly applying foundation models such as SAM2 and SAM3, even with task-specific modifications, fails to accurately understand referring expressions and maintain consistent identities across views. Yet, they remain effective at producing reliable object tracklets that can serve as pseudo supervision. We therefore repurpose foundation models as pseudo-label generators and propose a two-stage framework for weakly supervised CRMOT, using only object category labels as coarse-grained supervision. In the first stage, we design an Affinity-guided Cross-view Re-prompting strategy to refine and associate SAM3-generated tracklets across cameras, producing reliable cross-view pseudo labels for subsequent training. In the second stage, we introduce ViewSAM, a CRMOT model built upon SAM2 that explicitly models view-aware cross-modal semantics. By formulating view-induced variations as learnable conditions, ViewSAM bridges the gap between view-variant visual observations and view-invariant textual expressions, enabling robust cross-view referring tracking with only approximately 10% additional parameters. Extensive experiments demonstrate that ViewSAM achieves SOTA performance under weak supervision and remains competitive with fully supervised methods.

cs.CV↗
arXiv2026

Debate-Enhanced Pseudo Labeling and Frequency-Aware Progressive Debiasing for Weakly-Supervised Camouflaged Object Detection with Scribble Annotations

Weakly-Supervised Camouflaged Object Detection (WSCOD) aims to locate and segment objects that are visually concealed within their surrounding scenes, relying solely on sparse supervision such as scribble annotations. Despite recent progress, existing WSCOD methods still lag far behind fully supervised ones due to two major limitations: (1) the pseudo masks generated by general-purpose segmentation models (e.g., SAM) and filtered via rules are often unreliable, as these models lack the task-specific semantic understanding required for effective pseudo labeling in COD; and (2) the neglect of inherent annotation bias in scribbles, which hinders the model from capturing the global structure of camouflaged objects. To overcome these challenges, we propose ${D}^{3}$ETOR, a two-stage WSCOD framework consisting of Debate-Enhanced Pseudo Labeling and Frequency-Aware Progressive Debiasing. In the first stage, we introduce an adaptive entropy-driven point sampling method and a multi-agent debate mechanism to enhance the capability of SAM for COD, improving the interpretability and precision of pseudo masks. In the second stage, we design FADeNet, which progressively fuses multi-level frequency-aware features to balance global semantic understanding with local detail modeling, while dynamically reweighting supervision strength across regions to alleviate scribble bias. By jointly exploiting the supervision signals from both the pseudo masks and scribble semantics, ${D}^{3}$ETOR significantly narrows the gap between weakly and fully supervised COD, achieving state-of-the-art performance on multiple benchmarks.

cs.CV↗
arXiv2026

Rigorous and Generalized Proof of Security of Bitcoin Protocol with Bounded Network Delay

A proof of the security of the Bitcoin protocol is made rigorous, and simplified in certain parts. A computational model in which an adversary can delay transmission of blocks by time $Δ$ is considered. The protocol is generalized to allow blocks of different scores and a proof within this more general model is presented. An approach used in a previous paper that used random walk theory is shown through a counterexample to be incorrect; an approach involving a punctured block arrival process is shown to remedy this error. Thus, it is proven that with probability one, the Bitcoin protocol will have infinitely many honest blocks so long as the fully-delayed honest mining rate exceeds the adversary mining rate. This means that an adversary cannot censor future transactions of a user in perpetuity, which would render the protocol useless.

cs.CR↗